/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2007, MBARI.
*  All rights reserved.
* 
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
* 
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the TREX Project nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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*/

#include "ActionAdapter.hh"

namespace TREX {


  struct MultGoal {
    float num;
  };
  struct MultState {
    float feedback; //Feedback and goal are required.
    MultGoal goal;

    bool active;
  };

  class MultByAdapter : public ActionAdapter<MultGoal, MultState, unsigned int> {
  public:
    MultByAdapter(const LabelStr& agentName, const TiXmlElement& configData) 
      : ActionAdapter<MultGoal, MultState, unsigned int>(agentName, configData), 
	counter(1) {
      //FIXME: we have to have a better way to init the state.
      MultGoal g; g.num = 1;
      publishGoal(g);
    }

    virtual void publishGoal(const MultGoal& msg) {
      MultState state;
      state.goal.num = msg.num;
      state.active = true;
      state.feedback = counter;
      handleCallback(state);
      counter = msg.num;
    }

    virtual void preempt() {}

    virtual void fillActiveObservationParameters(MultGoal& msg, ObservationByValue* obs) {
      obs->push_back("nstate", new IntervalDomain(msg.num));
    }

    virtual void fillInactiveObservationParameters(const unsigned int& feedback, ObservationByValue* obs){
      obs->push_back("nstate", new IntervalDomain(feedback));
    }

    virtual void fillDispatchParameters(MultGoal& msg, const TokenId& goalToken){
      msg.num = goalToken->getVariable("nstate")->lastDomain().getSingletonValue();
    }

    virtual bool isActiveObs(const MultState &state){ return state.active; } 
  private:
    float counter;
  };
  TeleoReactor::ConcreteFactory<MultByAdapter> l_MultByAdapter_Factory("MultByAdapter");


}


